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11 Driver Function

© Copyright Reserved Autonics Co., Ltd.

11.1.2.3

Asymmetric Trapezoidal Acceleration/Deceleration Drive



AiC-D is available as asymmetric trapezoidal acceleration/deceleration drive which is

different between acceleration speed and deceleration speed.

For moving the object to the vertical direction such as stacking device of semi-conductor

wafer, the gravity acceleration speed is added to the object and acceleration speed and

deceleration speed for up/down movement should be different.

In this case, it operates asymmetric trapezoidal acceleration/deceleration drive.



When deceleration speed is higher than acceleration speed,



When acceleration speed is higher than deceleration speed,

Содержание AiC Series

Страница 1: ...AiC Series User Manual AiC Series Controller Integrated 2 Phase Closed Loop Stepper Motor System ...

Страница 2: ...ii Copyright Reserved Autonics Co Ltd ...

Страница 3: ...sing Autonics product Please familiarize yourself with the information contained in the Safety Precautions section before using this product This user manual contains information about the product and its proper use and should be kept in a place where it will be easy to access ...

Страница 4: ...or reproduced in either part or whole without permission A user manual is not provided as part of the product package Visit our web site www autonics com to download a copy The manual s content may vary depending on changes to the product s software and other unforeseen developments within Autonics and is subject to change without prior notice Upgrade notice is provided through out homepage We con...

Страница 5: ...s Symbol Description Supplementary information for a particular feature Failure to follow instructions can result in serious injury or death Failure to follow instructions can lead to a minor injury or product damage An example of the concerned feature s use 1 Annotation mark ...

Страница 6: ...c loss Check Connections before wiring Failure to follow this instruction may result in fi re Do not disassemble or modify the unit Failure to follow this instruction may result in fire Install the driver in the grounded housing or ground it directly Failure to follow this instruction may result in electronic shock personal injury Do not touch the unit during or after operation for a while Failure...

Страница 7: ...g on the environment Install the unit in the well ventilated place and forced cooling with a cooling fan Failure to follow this instruction may result in product damage and degradation Keep metal chip dust and wire residue from fl owing into the unit Failure to follow this instruction may result in fi re or product damage Use the designated motor only Failure to follow this instruction may result ...

Страница 8: ...4 CN3 I O connector AWG28 Keep the distance between power cable and signal cable more than 10cm Motor vibration and noise can occur in specifi c frequency period Change motor installation method or attach the damper Use the unit out of the dedicated frequency range when vibration and noise occurs due to changing motor RUN speed For using motor it is recommended to maintenance and inspection regula...

Страница 9: ...ns 17 2 1 Driver 17 2 2 Motor 19 2 2 1 Frame Size 42mm 19 2 2 2 Frame Size 56mm 19 2 2 3 Frame Size 60mm 19 2 2 4 Common Specifications 20 2 2 5 Encoder 21 3 Dimensions 23 3 1 Driver 23 3 2 Motor 24 3 2 1 Frame Size 42mm 24 3 2 2 Frame Size 56mm 24 3 2 3 Frame Size 60mm 24 4 Installation of Motor 27 4 1 Mounting Direction of Motor 27 4 2 Mounting of Motor 28 4 2 1 Frame Size 42mm 28 4 2 2 Frame Si...

Страница 10: ...le CJ MP50 HP standard AiC TAG 41 7 5 2 Power Cable CJ PW 42 7 5 3 Motor Encoder Cable normal C1D14M moving C1DF14M 42 8 Control Input Output 43 8 1 Input 43 8 1 1 Exclusive Input 20 43 8 1 2 General Input 9 48 8 1 3 Example of Input Circuit Connection 48 8 2 Output 49 8 2 1 Exclusive Output 4 49 8 2 2 General Output 10 53 8 2 3 Example of Output Circuit Connection 53 9 Drive 55 9 1 Index Mode 56 ...

Страница 11: ...unction 71 11 1 General Drive 71 11 1 1 Fixed Pulse and Continuous Pulse Drive 71 11 1 2 Speed curve 73 11 2 Home Search 78 11 2 1 General Home Search home search method 0 78 11 2 2 Limit Home Search home search method 1 79 11 2 3 Zero Home Search home search method 2 80 11 2 4 Torque Home Search home search method 3 81 11 3 Other functions 82 11 3 1 Limit operation 82 11 3 2 Stop current 82 11 3 ...

Страница 12: ...Table of Contents xii Copyright Reserved Autonics Co Ltd ...

Страница 13: ... Controllable maximum 31 axis with RS485 communication 4 type of operation mode jog mode continuous mode index mode 64 program mode 256 Improved user convenience with providing 50 I O pins C language library provided 32 bit 64 bit Dedicated Windows program atMotion provided Responding rapidly and maintaining torque in stop without hunting Easy to use without tuning various gain settings via progra...

Страница 14: ...e sure all of the above components are included with your product package before use If a component is missing or damaged please contact Autonics or your distributor 1 2 3 Sold Separately 1 I O cable Model CJ MP50 HP standard AiC TAG 2 Power cable Model CJ PW 3 Motion Encoder cable Model Normal CID14M Moving CIDF14M ...

Страница 15: ... 60mm 81 9mm M Middle 42mm 73 5mm 56mm 90 3mm 60mm 102 8mm L Long 42mm 81 5mm 56mm 111 3mm 60mm 119 8mm Encoder resolution A 10 000PPR 2 500PPRⅹ4 multiply 1 3 2 Motor Ai M 60 L A Item Description Series Ai Artificial intelligent Item M Motor Motor frame size 42 42 42mm 56 57 2 57 2mm 60 60 60mm Motor length S Short 42mm 67 5mm 56mm 77 3mm 60mm 81 9mm M Middle 42mm 73 5mm 56mm 90 3mm 60mm 102 8mm L...

Страница 16: ...er Motor AiC 42SA AiC D 42SA Ai M 42SA AiC 42MA AiC D 42MA Ai M 42MA AiC 42LA AiC D 42LA Ai M 42LA AiC 56SA AiC D 56SA Ai M 56SA AiC 56MA AiC D 56MA Ai M 56MA AiC 56LA AiC D 56LA Ai M 56LA AiC 60SA AiC D 60SA Ai M 60SA AiC 60MA AiC D 60MA Ai M 60MA AiC 60LA AiC D 60LA Ai M 60LA ...

Страница 17: ... setting Positioning range 2 147 483 648 to 2 147 483 647 In Position Fast Response 0 to 7 or Accurate Response setting range among 0 to 7 Motor rotation direction 4 CW CCW Status indicator ㆍ Power Warning indicator green LED ㆍ Alarm indicator red LED ㆍ In Position indicator yellow LED ㆍ Servo On Off indicator orange LED ㆍ RS485 DATA IN OUT indicator green yellow LED I O voltage level H 5 30VDCᜡ L...

Страница 18: ...imit over load Insulation resistance Over 100MΩ at 500VDC megger Dielectric strength 1 000VAC 60Hz for 1 min Vibration 1 5mm amplitude at frequency of 10 to 55Hz for 1 min in each X Y Z direction for 2 hours Shock 300m s2 approx 30G in each X Y Z direction for 3 times Envir onme nt Ambient temp 0 to 50 C storage 10 to 60 C Ambient humi 35 to 85 RH storage 10 to 90 RH Approval ᜢ Protection structur...

Страница 19: ...80ⅹ10 7 kg m2 Rated current 3 5A Phase Resistance 0 55Ω Phase 10 0 57Ω Phase 10 0 93Ω Phase 10 Inductance 1 05mH Phase 20 1 8mH Phase 20 3 7mH Phase 20 Weight 2 Approx 0 76kg approx 0 62kg Approx 0 99kg approx 0 85kg Approx 1 36kg approx 1 22kg 2 2 3 Frame Size 60mm Model Ai M 60SA Ai M 60MA Ai M 60LA Max stop torque 1 11 22kgf cm 1 1N m 22 43kgf cm 2 2N m 29 57kgf cm 2 9N m Rotor moment of inerti...

Страница 20: ...e 15 to 90 RH Protection structure IP30 IEC34 5 standard Stop angle error 1 0 09 Shaft vibration 2 0 03mm T I R Radial movement 3 Max 0 025mm load 25N Axial movement 4 Max 0 01mm load 50N Concentricity for shaft of setup in low 0 05mm T I R Perpendicularity of set up plate shaft 0 075mm T I R 1 Specifications are for full step angle without load Values may vary by load size 2 T I R Total Indicator...

Страница 21: ...y ratio Phase difference of output Output between A and B phase Control output Line driver output ㆍ Low Load current max 20mA Residual voltage max 0 5VDC ㆍ High Load current max 20mA Output voltage max 2 5VDCᜡ Response time rise fall Max 0 5μs cable length 2m I sink 20mA Max response frequency 300kHz Power supply 5VDCᜡ 5 ripple P P max 5 Current consumption Max 50mA disconnection of the load ...

Страница 22: ...2 Specifications 22 Copyright Reserved Autonics Co Ltd ...

Страница 23: ...3 Dimensions Copyright Reserved Autonics Co Ltd 23 3 Dimensions 3 1 Driver unit mm Be sure that these figures may differ from the actual units ...

Страница 24: ...3 Dimensions 24 Copyright Reserved Autonics Co Ltd 3 2 Motor 3 2 1 Frame Size 42mm 3 2 2 Frame Size 56mm 3 2 3 Frame Size 60mm ...

Страница 25: ...Dimensions Copyright Reserved Autonics Co Ltd 25 Model L Model L Model L Ai M 42SA 34 1 Ai M 56SA 43 5 Ai M 60SA 48 1 Ai M 42MA 40 1 Ai M 56MA 56 5 Ai M 60MA 69 Ai M 42LA 48 1 Ai M 56LA 77 5 Ai M 60LA 86 ...

Страница 26: ...3 Dimensions 26 Copyright Reserved Autonics Co Ltd ...

Страница 27: ...aft overhung load thrust load Motor size The distance from the shaft in front mm Allowable overhung load kgf N Allowable thrust load D 0 D 5 D 10 D 15 Frame size 42mm 2 20 2 6 25 3 5 34 5 3 52 Below motor weight Frame size 56mm 5 5 54 6 8 67 9 1 89 13 3 130 Frame size 60mm Do not apply excessive force on motor cable when mounting motors Do not forcibly pull or insert the cable It may cause poor co...

Страница 28: ...ize 42mm 4 2 2 Frame Size 56mm Frame Size 60mm With considering heat radiation and vibration isolation mount the motor as tight as possible against a metal panel having high thermal conductivity such as iron or aluminum When mounting motors use hexagon socket screws spring washers and flat washers ...

Страница 29: ...e of the device or the shaft for connecting with a load 4 3 1 Direct Load Connection with Coupling When connecting a load such as Ball screw or Tm screw directly to the shaft of the motor use flexible coupling as image showing above If the center of the load and the shaft is not aligned it may cause severe vibration damage on shaft or shortened life cycle of bearings 4 3 2 Load Connection with Pul...

Страница 30: ...H at non dew status of ambient humidity The place without explosive flammable and corrosive gas The place without direct ray of light The place where dust or metal scrap does not enter into the unit The place without contact with water oil or other liquid The place without contact with strong alkali or acid material The place where easy heat dissipation could be made The place where no continuous ...

Страница 31: ...5 Connection Copyright Reserved Autonics Co Ltd 31 5 Connection ...

Страница 32: ...5 Connection 32 Copyright Reserved Autonics Co Ltd ...

Страница 33: ...6 Characteristics Copyright Reserved Autonics Co Ltd 33 6 Characteristics 6 1 Frame Size 42mm 6 2 Frame Size 56mm 6 3 Frame Size 60mm ...

Страница 34: ...6 Characteristics 34 Copyright Reserved Autonics Co Ltd ...

Страница 35: ... correct connection When polarity direction is reversed power is not turned on Pin arrangement Pin no Function 2 GND 1 24VDC 7 1 2 CN2 Motor Encoder Connector Connects the motor and the encoder to the driver Pin arrangement Pin no Function Pin no Function 1 GND 8 5VDC 2 Encoder A 9 Encoder 3 Encoder B 10 Encoder 4 Encoder Z 11 Encoder 5 F G 12 N C 6 Motor A 13 Motor B 7 Motor 14 Motor ...

Страница 36: ...e4 Max speed designate 0 12 Input Step5 MSP1 1 5 10ms L H Step designate5 speed designate 1 13 Input MD0 HMD0 1 5 10ms L H Run mode designate0 Home search mode designate0 14 Input MD1 HMD1 1 5 10ms L H Run mode designate 1 Home search mode designate 1 15 Input Pause 1 5 10ms L H Pause 16 Input Servo On Off 1 5 10ms L H Servo On Off 17 Input Home 1 5 10ms L H Home search 18 Input Alarm Reset 1 5 10...

Страница 37: ... output1 40 Output Compare2 Comparison output2 41 Output OUT0 General output0 42 Output OUT1 General output1 43 Output OUT2 General output2 44 Output OUT3 General output3 45 Output OUT4 General output4 46 Output OUT5 General output5 47 Output OUT6 General output6 48 Output OUT7 General output7 49 Output OUT8 General output8 50 Output OUT9 General output9 1 It is software input filter to set 10ms o...

Страница 38: ... 7 2 Connector Specifications Type Specifications Manufact ure Connector Connect or terminal Housing CN1 Driver 3930 1020 5569 02A2 Molex Power CHD1140 02 CTD1140 HANLIM CN2 Driver 35318 1420 Molex Motor Encoder 5557 14R 5556T CN3 Driver 10250 52A2 PL 3M I O connector 10150 3000PE 10350 52F0 008 CN4 Driver KRM U 02 8 8 4 7M5 KINNEXA Above connectors are suitable for AiC D Series You can use equiva...

Страница 39: ... B 11 27 4 4 20 C 12 28 5 5 21 D 13 29 6 6 22 E 14 30 7 7 23 F 15 31 Set Node ID of the driver Depending on the 1 switch setting of the SW2 it is possible to connect max 31 axis 7 3 2 SW2 ID Setting Terminating Resistance DIP Switch No Function Switch position ON OFF factory default 1 ID setting ID 16 to 31 ID 1 to 15 2 Terminating resistance Use terminating resistance 120Ω Do not use terminating ...

Страница 40: ...indicator When alarm occurs it flashes in various ways depending on the situation Refer to 8 2 1ExclusiveOutput 4 개 INP Yellow In Position indicator Turns ON when motor is placed at command position after positioning input SERVO Orange Servo On Off indicator Turns ON when Servo is operating turns OFF when servo is not operating RXD IN 1 Right side Yellow RS485 Data I O display Flashes when receivi...

Страница 41: ... IN6 Black 2 9 STEP2 SSP0 Black 5 34 IN7 Red 2 10 STEP3 SSP1 Red 5 35 IN8 Black 3 11 STEP4 MSP0 Yellow Black 1 36 VEX Red 3 12 STEP5 MSP1 Red 1 37 GEX Black 4 13 MD0 HMD0 Black 2 38 ALARM Red 4 14 MD1 HMD1 Red 2 39 COMPARE1 Black 5 15 PAUSE1 Black 3 40 COMPARE2 Red 5 16 SERVO ON OFF Red 3 41 OUT0 Pink Black 1 17 HOME Black 4 42 OUT1 Red 1 18 ALARM RESET Red 4 43 OUT2 Black 2 19 LIMIT Black 5 44 OU...

Страница 42: ...Co Ltd 7 5 2 Power Cable CJ PW of model name indicates cable length 010 020 E g CJ PW 010 1m power cable 7 5 3 Motor Encoder Cable normal C1D14M moving C1DF14M of model name indicates cable length 1 2 3 5 7 10 E g C1DF14M 10 10m moving type motor encoder cable ...

Страница 43: ...eration mode designate 0 Home search mode designate 0 13 MD1 HMD1 Operation mode designate 1 Home search mode designate 1 14 Pause Pause 15 Servo On Off Servo On Off 16 Home Home search 17 Alarm Reset Alarm reset command 18 Limit direction limit sensor 19 Limit direction limit sensor 20 ORG Home sensor 21 SD Deceleration Deceleration stop signal 22 8 1 1 1 Reset When driver is reset it operates sa...

Страница 44: ... EMG emergency Motor stops immediately emergency stop alarm occurs The current of motor is not blocked During stopping motor EMG instruction does not run 8 1 1 5 Step0 1 Run Jog 1 Step0 1 It is available to set the start address of program mode among 0 to 63 range by 6 digit bit of Step0 to Step5 Step0 Least significant bit Step5 Most significant bit 2 Run Accoridng to the set parameter it drives ...

Страница 45: ... of SSP0 SSP1 SSP1 SSP0 Start speed 1 OFF OFF Start speed 2 OFF ON Start speed 3 ON OFF Start speed 4 ON ON Start speed 5 is not available 8 1 1 7 Step4 5 MSP0 1 max speed 1 Step4 5 It is available to set the start address of program mode among 0 to 63 range by 6 digit bit of Step0 to Step5 Step0 Least significant bit Step5 Most significant bit 2 MSP0 1 It is available to set the max drive speed o...

Страница 46: ... signal is ON it starts drive from the next step of the paused one During continuous mode driving it decelerates and stops when pause signal is ON When pause signal is OFF it starts drive If pause signal is OFF before stopping the motor the motor stops and it starts drive as continuous mode 8 1 1 10 Servo On Off It is for adjusting shaft position of motor by external force manually Servo On Off si...

Страница 47: ... alarm output turn OFF The driver returns to normal status If alarm causes are not removed the driver does not return to normal status 8 1 1 13 Limit When supplying the limit signal over 1 5ms it recognizes as hardware limit input and it decelerates and stops or stops immediately accoridng to the set parameter Limit CW direction limit sensor signal Limit CCW direction limit sensor signal 8 1 1 14 ...

Страница 48: ...nstruction IN0 to IN5 When supplying over 10ms or 1 5ms set at Input Filter parameter it recognizes as input IN6 to IN8 When supplying over 1 5ms it recognizes as input 8 1 3 Example of Input Circuit Connection All input circuits are insulated with photocoupler It is recommended to use 24VDC at VEX and short RL In case using external power over 24VDC power select RL value that IF forward current o...

Страница 49: ...urns ON and the in position indicator turns ON In reverse when the gap is over in position setting value in position output turns OFF and the in position indicator turns OFF Fast response When gab between the target position and the current position is lower than the setting value it outputs in position signal immediately Accurate response When gab between the target position and the current posit...

Страница 50: ...Refer to example of 8 2 3Example of Output Circuit Connection 2 Warning This function notices dangers with the alarm indicator prior to motor stop with limit signal or over load alarm When turning out from the alarming condition driver returns to the normal status automatically Even though warning occurs it drives as normal status and it may cause damage by fire It is recommended not to use the un...

Страница 51: ... command speed is over 3 500rpm 11 Input voltage error When input voltage is out of 24VDC 10 12 In Position error When position error over 1 is kept over 3 sec after motor stopped 13 Memory error When memory error is detected as power supplied 14 Emergency stop When emergently stopped with emergency stop command 15 Program mode error When END command is not exist at the last step 16 Index mode err...

Страница 52: ...parison output turns ON when the present absolute position value is same or smaller than the set position value 3 Trigger pulses output with the set interval and width Setting range of Compare 1 Position Compare 2 Position 2 147 483 648 to 2 147 483 647 Setting range of Compare 1 Period Compare 2 Period 1 to 2 147 483 648 pulse Setting range of Compare 1 Pulse Width Compare 2 Pulse Width 1 to 1 00...

Страница 53: ...41 to 50 It is general output at program mode It is used with OPC OPT instruction 8 2 3 Example of Output Circuit Connection All output circuits are insulated with photocoupler External power input is available from 5VDC to 80VDC with the open collector method Select RL value that IC collector current of secondary LED of photocoupler to be around 10mA ...

Страница 54: ...8 Control Input Output 54 Copyright Reserved Autonics Co Ltd ...

Страница 55: ...g the saved instruction of the program Jog mode Outputs drive while instruction input signal is ON to direction Continuous mode Starts drive output when instruction input signal turns ON once to direction Stops it when the signal turns stop Program mode Operates by the designated program Do not operate instructions by I O during communication between the driver and the PC atMotion only monitoring ...

Страница 56: ...D1 0 2nd Select Index mode It is available to set the step number from 0 to 63 combining with Step0 to Step5 3rd Start drive When Start input signal turns ON the designated one step operates 4th Emergency stop When EMG signal inputs it stops emergently For index mode drive by I O control MD0 HMD0 MD1 HMD1 are turn OFF and it selects index drive When it stops by stop signal input no 16 alarm Index ...

Страница 57: ...ilable to set the start drive speed combining with SSP0 SSP1 3rd Select max drive speed It is available to set the max drive speed combining with MSP0 MSP1 4th Drive It drives to CW direction or CCW direction while Jog or Jog signal inputs 5th Emergency stop When EMG signal inputs it stops emergently For jog mode drive by I O control MD0 HMD0 turns ON MD1 HMD1 turns OFF and it selects jog drive It...

Страница 58: ...ive speed It is available to set the start drive speed combining with SSP0 SSP1 3rd Select max drive speed It is available to set the max drive speed combining with MSP0 MSP1 4th Drive When Run or Run signal inputs it drives to CW direction or CCW direction 5th Stop When STOP signal inputs or limit signal of the direction inputs it stops 6th Emergency stop When EMG signal inputs it stops emergentl...

Страница 59: ...fter completing the step When Start signal inputs again it drives from the completed next step 4th Stop When Stop signal inputs it stops after completing the step When Start signal inputs again it drives from the first step 5th When EMG signal inputs it stops emergently 6th Program end When END signal inputs program mode drive is end When Power On Program Start parameter is Enable it operates prog...

Страница 60: ...ore information refer to 11 2Home Search Home search drive 1st Drive mode It is available to set the home search mode combining with HMD0 HMD1 2nd Drive When HOME signal inputs it operates home search according to the set mode 3rd Stop When STOP signal inputs or limit signal of the direction inputs it stops 4th Emergency stop When EMG signal inputs it stops emergently ...

Страница 61: ...le Type Instruction Description Drive ABS Absolute position move INC Relative position move HOM Home search Input Output ICJ Input condition jump IRD Input wait OPC Output port ON OFF OPT Output port ON pulse CMP Compare output Program control JMP Jump REP Repeat start RPE Repeat end END Program end POS Position set Others TIM Ready ...

Страница 62: ...leration Set the acceleration time of drive Set the acceleration time from 1 to 5 When selecting acceleration as 6 it is available to set as the desired value Deceleration Set the deceleration time of drive Set the deceleration time from 1 to 5 When selecting deceleration as 6 it is available to set as the desired value Position Moving position inputs as absolute value In case of Present position ...

Страница 63: ...Deceleration time ms Start drive speed pps Max drive speed pps 1 1 000 0 500 5 000 2 1 000 0 5 000 10 000 3 1 000 0 10 000 20 000 4 0 1 000 7 000 20 000 5 0 1 000 0 7 000 For the step with acceleration set deceleration time as 0ms For the step with deceleration set acceleration time as 0ms ...

Страница 64: ...s available to set as the desired value Acceleration Set the acceleration time of drive Set the acceleration time from 1 to 5 When selecting acceleration as 6 it is available to set as the desired value Deceleration Set the deceleration time of drive Set the deceleration time from 1 to 5 When selecting deceleration as 6 it is available to set as the desired value Position Moving position inputs as...

Страница 65: ... 10 000 3 1 000 0 10 000 20 000 4 0 1 000 7 000 20 000 5 0 1 000 0 7 000 For the step with acceleration set deceleration time as 0ms For the step with deceleration set acceleration time as 0ms 10 1 3 HOM home search It is for home search according to the set parameter of Home Search Mode Home search mode instruction DATA HOM instruction For more information refer to the 9 5Home search ...

Страница 66: ...EP RPE instruction do not use ICJ Input condition jump 10 2 2 IRD input wait It is for moving the next step when the selected input port is activated When the input port is deactivated it waits at the current step until the active status instruction DATA IRD Instruction Input port Input port Select the input port number For more information of input port number refer to 8 1 2General Input 9 10 2 3...

Страница 67: ...port Setting range is 1 to 10 000msec Output port Set the output port number For more information about output port number refer to 8 2 2General Output 10 Next step ON It moves to the next step regardless of output operation OFF It turns the set output port ON during the set ON time After the time it moves to the next step 10 2 5 CMP compare output It outputs trigger pulse for the set period For m...

Страница 68: ...e sure to the position of END instruction At the loop between REP RPE instruction do not use JMP jump 10 3 2 REP repeat start It operates repeatedly for the set times from the next step of this instruction to RPE repeat end instruction Instruction DATA REP Instruction Repeat count Repeat Count Set the repeat times Setting range is 1 to 255 RPE repeat end instruction should be below higher step num...

Страница 69: ...t use jump instruction JMP ICJ 10 3 4 END program end It ends program You must enter this instruction at the end of program instruction DATA END Instruction 10 3 5 POS position set It sets the position value instruction DATA POS Instruction Position Position Set the position value Setting range is 2 147 483 648 to 2 147 483 647 10 4 Others 10 4 1 TIM ready It is ready instruction for the set time ...

Страница 70: ...10 Program Instructions 70 Copyright Reserved Autonics Co Ltd ...

Страница 71: ...number of output pulses Acceleration Deceleration fixed pulse drive starts to reduce speed when remaining output pulse is less than the pulse used for acceleration It ends drive when it finishes generating pulse as shown in the image below Absolute position movement and relative position movement There are absolute position movement and relative position movement These are fixed pulse drive Absolu...

Страница 72: ... 9 000 18 000 27 000 pulse Example of relative position movement Move relative position works as shown in the image below For example if you execute relative position movement command INC for 9 000 pulse 3 times it moves to points A B C 11 1 1 2 Continuous Drive Continuous pulse drive outputs drive pulse sequentially until the stop command from the high level or external stop signal becomes active...

Страница 73: ... deceleration drive accelerates from initial speed to drive speed trapezoidally with an inclination of the designated acceleration Set acceleration deceleration time as msec at Acceleration Time 1 to 5 Deceleration Time 1 to 5 parameter It counts the pulses consumed while accelerating to a specified drive speed and starts decelerating when the remaining output pulse becomes less than accelerating ...

Страница 74: ...eceleration speed For moving the object to the vertical direction such as stacking device of semi conductor wafer the gravity acceleration speed is added to the object and acceleration speed and deceleration speed for up down movement should be different In this case it operates asymmetric trapezoidal acceleration deceleration drive When deceleration speed is higher than acceleration speed When ac...

Страница 75: ...tes S curve without b e trapezoidal zone Precautions for S curve acceleration deceleration drive In a fixed pulse S curve acceleration deceleration drive you cannot change speed while driving At S curve acceleration deceleration fixed pulse drive S Curve Time S curve acceleration deceleration time is set 1 2 of Acceleration Time Deceleration Time If it is set over 1 2 the drive pulse ends during d...

Страница 76: ...e acceleration During 0 2 sec it drives trapezoidal acceleration up to 20 000pps 3rd At the left 0 2 sec it drives trapezoidal deceleration up to 40 000pps For each setting value of parameters and descriptions refer to the below table Parameter Setting value Description Acceleration Time acceleration time 4000 msec For S curve drive acceleration deceleration time should be same Deceleration Time d...

Страница 77: ...n Acceleration Time acceleration time 6000 msec For S curve drive acceleration deceleration time should be same Deceleration Time deceleration time 6000 msec S Curve Time S curve acceleration deceleration time 2000 msec It applies start drive speed S Curve Time and max drive speed S Curve Time Start Speed start drive speed 0 pps Max Speed max drive speed 40000 pps Comparing S curve and Trapezoid a...

Страница 78: ...eleration drive with the set acceleration time at Home Search Acceleration Time 3rd When acceleration drive is completed it operates constant speed drive until ORG home sensor signal inputs with the set max drive speed at Home Search Max speed 4th If Limit direction limit sensor signal inputs before ORG home sensor signal inputs it decelerates and stops drive to the reverse direction to find home ...

Страница 79: ...sor signal inputs or it arrives to Software Limit software limit it decelerates with the set deceleration time at Home Search Deceleration Time and stops 5th After stops it moves to the reverse direction for the passing distance from limit sensor with the set start drive speed at Home Search Start Speed finds limit sensor and stops 6th After finding home In Position signal outputs and the INP indi...

Страница 80: ...nd it operates drive at the set home direction 3rd It starts drive with the set start drive speed at Home Search Start Speed and it operates acceleration drive with the set acceleration time at Home Search Acceleration Time 4th After acceleration drive is complete it operates constant speed drive with the set max drive speed at Home Search Max speed 5th When it is close to home it decelerates with...

Страница 81: ...eration drive is completed it operates constant speed drive until contacting the specific equipment with the set max drive speed at Home Search Max speed 4th When it contacts with the specific equipment the current of motor is higher It stops when the current of motor is same value as the set value at Home Search Torque 5th After stops it rotates one time to the reverse direction with the start dr...

Страница 82: ...ftware Limit Enable Software Limit 100 000 Software Limit 50 000 When the setting value is as above the position value operates among 50 000 to 100 000 range When it is out of the range the drive decelerates and stops Hardware limit operates independently regardless of the software limit settings and only hardware limit except limit home search is operated during home search 11 3 2 Stop current Wh...

Страница 83: ...he instruction at the parameter Set the speed filter value for time delay between the command position and motor It is able to drive softly even though load changing or disturbance occurs Parameter Setting Value ms Speed Filter 0 Disable 1 2 2 4 3 6 4 8 5 10 6 20 7 40 8 factory default 60 9 80 10 100 11 120 12 140 13 160 14 180 15 200 ...

Страница 84: ...uring drive I Gain Adjusts vibration in acceleration deceleration zone The set gain value applies when motor stops Parameter Setting Value ratio P I GAIN 0 factory default 1 1 1 2 1 2 3 1 3 4 1 4 5 1 5 1 2 6 2 2 7 3 2 8 4 2 9 5 2 10 1 3 11 2 3 12 3 3 13 4 3 14 5 3 15 User setting When GAIN is set as 1 P I 2 1 The set value is the ratio between P and I When GAIN is set as 15 user can set each GAIN ...

Страница 85: ... under in position setting value after position command pulse has finished in position output turns to H and the in position indicator turns ON In reverse when the gap is over in position setting value in position output turns to L and the in position indicator turns OFF For more accuracte control check the in position output before operating the next one For more information refer to 8 2 1 1In Po...

Страница 86: ...11 Driver Function 86 Copyright Reserved Autonics Co Ltd ...

Страница 87: ...hen motor does not excite Servo is not ON Check that servo On Off input signal is L In case of H servo is off and excitation of motor is released Alarm occurs Check the alarm type and remove the cause of alarm When motor rotates to the opposite direction of the designated direction MotorDir parameter setting is not correct Check the MotorDir parameter settings When motor drive is unstable Connecti...

Страница 88: ...cs Corp Iran Representative Office Tel 98 21 8872 7251 2 Fax 98 21 8872 8556 E mail iran autonics com Japan Autonics Japan Corporation Tel 81 3 6435 8380 Fax 81 3 6435 8381 E mail ja autonics com Malaysia Mal Autonics Sensor Sdn Bhd Tel 60 3 7805 7190 Fax 60 3 7805 7193 E mail malaysia autonics com Mexico Autonics Mexico S A DE C V Tel 52 55 5207 0019 Fax 52 55 1663 0712 E mail ventas autonics com...

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